A comparative evaluation of interest point detectors and local descriptors for visual SLAM.
Arturo GilÓscar Martínez MozosMónica BallestaÓscar ReinosoPublished in: Mach. Vis. Appl. (2010)
Keyphrases
- comparative evaluation
- visual slam
- interest point detectors
- scale invariant
- real time
- dynamic environments
- object recognition
- camera motion
- monocular camera
- bundle adjustment
- simultaneous localization and mapping
- multibody
- affine invariant
- mobile robot
- natural images
- keypoints
- structure from motion
- motion segmentation
- kalman filter
- least squares
- optical flow
- pairwise
- face recognition